CN114413852B - Unmanned aerial vehicle auxiliary mapping method and system - Google Patents
Unmanned aerial vehicle auxiliary mapping method and system Download PDFInfo
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- CN114413852B CN114413852B CN202210038348.4A CN202210038348A CN114413852B CN 114413852 B CN114413852 B CN 114413852B CN 202210038348 A CN202210038348 A CN 202210038348A CN 114413852 B CN114413852 B CN 114413852B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
An unmanned aerial vehicle assisted mapping method and system comprises the following steps: acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle; selecting a plurality of standard lines with directions in an original topographic map; obtaining a sequence according to the direction of a standard line, and then adding additional information in the corrected picture to the original topographic map; the corrected picture contains coordinate information and elevation information. According to the application, the standard line is arranged on the original topographic map, and the standard line is used as a guide to carry out superposition of the corrected pictures acquired by the unmanned aerial vehicle, so that the mapping efficiency and the mapping accuracy can be greatly improved, the original topographic map can be utilized to the greatest extent, the corrected pictures acquired by the unmanned aerial vehicle can be more effectively utilized, and the corrected pictures are interacted to obtain final optimized mapping data.
Description
Technical Field
The application relates to an unmanned aerial vehicle auxiliary mapping method and system.
Background
In the process of topographic mapping, in order to ensure the accuracy of mapping, electronic rangefinders, theodolites and the like are often used for mapping, and the method can basically meet the measurement requirements, but is high in time consumption and cost. As unmanned aerial vehicle technology matures, unmanned aerial vehicles have increasingly been used in mapping. However, the existing unmanned aerial vehicle aviation mapping has certain disadvantages, and has problems such as overlapping of images during shooting, route setting and the like. In essence, unmanned aerial vehicle mapping is an auxiliary mapping means, and is an improvement refinement based on the original topography, so how to obtain more effective unmanned aerial vehicle auxiliary mapping information and attach the unmanned aerial vehicle auxiliary mapping information to the original topography becomes one of the current core research points.
Disclosure of Invention
In order to solve the above problems, the present application provides an unmanned aerial vehicle assisted mapping method, which includes the following steps: acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle; selecting a plurality of standard lines with directions in an original topographic map; obtaining a sequence according to the direction of a standard line, and then adding additional information in the corrected picture to the original topographic map; the corrected picture contains coordinate information and elevation information. According to the application, the standard line is arranged on the original topographic map, and the standard line is used as a guide to carry out superposition of the corrected pictures acquired by the unmanned aerial vehicle, so that the mapping efficiency and the mapping accuracy can be greatly improved, the original topographic map can be utilized to the greatest extent, the corrected pictures acquired by the unmanned aerial vehicle can be more effectively utilized, and the corrected pictures are interacted to obtain final optimized mapping data.
Preferably, the geodetic coordinate information is obtained according to the coordinate information and the elevation information of the corrected picture, then the geodetic coordinate information is matched with the standard line, the corrected picture is deformed and stretched to obtain an improved picture matched with the original topographic map by obtaining a plurality of corrected points on the corrected picture, and the improved picture is used for correcting the original topographic map.
Preferably, the correction point is obtained according to the following method: dividing the length and width of the picture into a plurality of unit blocks by uniformly dividing the picture, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, taking adjacent central unit blocks until the first correction point is obtained, taking the central unit block as a starting point, extending the plurality of unit blocks in any direction to obtain a first edge unit block, analyzing the marker to obtain a second correction point, analyzing to obtain a second edge unit block symmetrically arranged relative to the first edge unit block and the central unit block, and obtaining a third correction point through the marker on the second edge unit block. According to the application, the picture acquired by the unmanned aerial vehicle is corrected, on one hand, when the unmanned aerial vehicle continuously acquires the picture, a certain angle of view deviation problem exists, on the other hand, when the original topographic map is greatly changed, if the original topographic map is directly added, only coordinate information and elevation information can be relied on, the actual situation of the corrected picture acquired by the unmanned aerial vehicle is more difficult to combine, and the effect of correcting the picture is greatly reduced.
Preferably, the improved picture is processed to obtain three-dimensional data, the three-dimensional data is compared with the data of the original topographic map, and the data in the original topographic map is modified into three-dimensional data for inconsistent data.
Preferably, the three-dimensional data of the overlapping region is overlapped in such a manner that the post-overlapped three-dimensional data and the pre-overlapped three-dimensional data are weighted.
Preferably, the weighting mode is calculated according to the deformation degree of the improved picture obtained from the original corrected picture; the degree of deformation is the ratio of the area of the modified picture that is not deformed to the total area of the modified picture.
Preferably, the distances between the standard lines are arranged at equal intervals.
Preferably, the flight mode of the unmanned aerial vehicle for obtaining the corrected picture is that the unmanned aerial vehicle is in flight shooting right above a standard line. The method can adopt the standard line to guide the flight direction of the unmanned aerial vehicle, and the basis is that the standard line can be preset, and the method is found through the auxiliary mapping process, so that the method has better promotion effect on the acquisition quality of the corrected picture and the final retest consistency rate, and can also improve the efficiency of auxiliary mapping and the efficiency of processing the corrected picture.
On the other hand, also discloses an unmanned aerial vehicle auxiliary mapping system, which comprises the following modules: the data module is used for acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle, wherein the corrected picture contains coordinate information and elevation information; the processing module selects a plurality of standard lines with directions in the original topographic map, obtains a sequence according to the directions of the standard lines, and then attaches additional information in the corrected picture (if an improved picture is used, the improved picture is used) to the original topographic map.
Preferably, the system further comprises a correction module, wherein the correction module is used for obtaining geodetic coordinate information according to the coordinate information and elevation information of the correction picture, then matching the geodetic coordinate information with a standard line, and obtaining a plurality of correction points on the correction picture to deform and stretch the correction picture so as to obtain an improved picture matched with the original topographic map.
The application has the following beneficial effects:
1. according to the application, the standard line is arranged on the original topographic map, and the standard line is used as a guide to carry out superposition of the corrected pictures acquired by the unmanned aerial vehicle, so that the mapping efficiency and the mapping accuracy can be greatly improved, the original topographic map can be utilized to the greatest extent, the corrected pictures acquired by the unmanned aerial vehicle can be more effectively utilized, and the corrected pictures are interacted to obtain final optimized mapping data;
2. according to the application, the picture acquired by the unmanned aerial vehicle is corrected, on one hand, when the unmanned aerial vehicle continuously acquires the picture, a certain angle of view deviation problem exists, on the other hand, when the original topographic map is greatly changed, if the original topographic map is directly added, only coordinate information and elevation information can be relied on, the actual situation of the corrected picture acquired by the unmanned aerial vehicle is more difficult to combine, and the effect of correcting the picture is greatly reduced;
3. the method can adopt the standard line to guide the flight direction of the unmanned aerial vehicle, and the basis is that the standard line can be preset, so that the method has better promotion effect on the acquisition quality of the corrected picture and the final retest consistency rate, and can also improve the efficiency of auxiliary mapping and the efficiency of processing the corrected picture.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of example 1;
fig. 2 is a schematic diagram of example 2.
Detailed Description
In order to clearly illustrate the technical characteristics of the scheme, the application is explained in detail by the following specific embodiments.
In a first embodiment, an unmanned aerial vehicle assisted mapping method includes the steps of:
s101, acquiring an original topographic map and selecting a plurality of standard lines with directions from the original topographic map;
the drawing proportion of the original topographic map is 1:2000, and when the marking line is set, the distance between standard lines is set at equal intervals.
S102, obtaining a corrected picture obtained by the unmanned aerial vehicle and processing the corrected picture to obtain the corrected picture:
the flight mode of the unmanned aerial vehicle for obtaining the corrected picture is that the unmanned aerial vehicle is obtained by shooting in a flight mode right above a standard line; the corrected picture contains coordinate information and elevation information;
obtaining geodetic coordinate information according to the coordinate information and elevation information of the corrected picture, then matching the geodetic coordinate information with a standard line, deforming and stretching the corrected picture to obtain an improved picture matched with the original topographic map by obtaining a plurality of corrected points on the corrected picture, and using the improved picture for correcting the original topographic map; the correction point is obtained according to the following method: dividing the length and width of the picture into a plurality of unit blocks by uniformly dividing the picture, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, taking adjacent central unit blocks until the first correction point is obtained, taking the central unit block as a starting point, extending the plurality of unit blocks in any direction to obtain a first edge unit block, analyzing the marker to obtain a second correction point, analyzing to obtain a second edge unit block symmetrically arranged relative to the first edge unit block and the central unit block, and obtaining a third correction point through the marker on the second edge unit block.
S103, obtaining a sequence according to the direction of a standard line, and then adding additional information in a corrected picture (if the corrected picture is obtained by stretching, the corrected picture is utilized) to an original topographic map to obtain a corrected topographic map;
processing the improved picture to obtain three-dimensional data, comparing the three-dimensional data with the data of the original topographic map, and modifying the data in the original topographic map into three-dimensional data for inconsistent data;
for the three-dimensional data of the overlapping area, overlapping according to the weighting mode of the three-dimensional data overlapped later and the three-dimensional data overlapped earlier; the weighting mode is obtained by calculating the deformation degree of the improved picture according to the original corrected picture; the degree of deformation is the ratio of the area of the modified picture that is not deformed to the total area of the modified picture.
S104, setting coordinate information and elevation information of 50 detection points before mapping, comparing the corrected topographic map with the coordinate information and the elevation information, calculating a matching rate, and determining that any one of the corrected topographic map exceeds a mapping error to be unmatched.
The first group was operated exactly as above with a matching rate of 98%;
the second group of unmanned aerial vehicles acquire corrected pictures, the corrected pictures are corrected from the standard line to the contour line, and the matching rate is 94%;
the third group of unmanned aerial vehicles acquire corrected pictures, the corrected pictures are corrected to be annular flight along the marking line, and the matching rate is 94%;
the fourth group is based on the first group, but no correction from correction picture to improvement picture is made, the matching rate is 86%.
In a second embodiment, an unmanned aerial vehicle assisted mapping system comprises the following modules:
the data module 201 is configured to obtain an original topographic map and a corrected image obtained by the unmanned aerial vehicle, where the corrected image contains coordinate information and elevation information;
the processing module 202 selects a number of standard lines with directions in the original topography and obtains a precedence order according to the directions of the standard lines, and then appends additional information in the modified picture (if there is an improved picture, the improved picture will be utilized) to the original topography.
The correction module 203 is configured to obtain geodetic coordinate information according to coordinate information and elevation information of the corrected picture, then match the geodetic coordinate information with a standard line, and obtain a plurality of correction points on the corrected picture, and deform and stretch the corrected picture to obtain an improved picture matched with the original topographic map;
the foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (7)
1. An unmanned aerial vehicle assisted mapping method is characterized in that: the method comprises the following steps:
acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle;
selecting a plurality of standard lines with directions in an original topographic map;
obtaining a sequence according to the direction of a standard line, and then adding additional information in the corrected picture to the original topographic map;
the corrected picture contains coordinate information and elevation information;
obtaining geodetic coordinate information according to the coordinate information and elevation information of the corrected picture, then matching the geodetic coordinate information with a standard line, deforming and stretching the corrected picture to obtain an improved picture matched with the original topographic map by obtaining a plurality of corrected points on the corrected picture, and using the improved picture for correcting the original topographic map;
the correction point is obtained according to the following method: dividing the length and width of the picture into a plurality of unit blocks by uniformly dividing the picture, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, taking adjacent central unit blocks until the first correction point is obtained, taking the central unit block as a starting point, extending the plurality of unit blocks in any direction to obtain a first edge unit block, analyzing the marker to obtain a second correction point, analyzing to obtain a second edge unit block symmetrically arranged relative to the first edge unit block and the central unit block, and obtaining a third correction point through the marker on the second edge unit block.
2. The unmanned aerial vehicle assisted mapping method of claim 1, wherein: and processing the improved picture to obtain three-dimensional data, comparing the three-dimensional data with the data of the original topographic map, and modifying the data in the original topographic map into three-dimensional data for inconsistent data.
3. An unmanned aerial vehicle assisted mapping method according to claim 2, wherein: and overlapping the three-dimensional data of the overlapping area according to a weighted mode of the three-dimensional data overlapped later and the three-dimensional data overlapped earlier.
4. A method of unmanned aerial vehicle assisted mapping according to claim 3, wherein: the weighting mode is obtained by calculating the deformation degree of the improved picture according to the original corrected picture; the degree of deformation is the ratio of the area of the modified picture that is not deformed to the total area of the modified picture.
5. The unmanned aerial vehicle assisted mapping method of claim 1, wherein: the distance between the standard lines is set at equal intervals.
6. The unmanned aerial vehicle assisted mapping method of claim 5, wherein: the flight mode of the unmanned aerial vehicle for obtaining the corrected picture is that the unmanned aerial vehicle is obtained by flying and shooting along the standard line.
7. Unmanned aerial vehicle assists survey and drawing system, its characterized in that: the device comprises the following modules:
the data module is used for acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle, wherein the corrected picture contains coordinate information and elevation information;
the processing module is used for selecting a plurality of standard lines with directions from the original topographic map, obtaining a sequence according to the directions of the standard lines, and then adding additional information in the corrected picture to the original topographic map;
the correction module is used for obtaining geodetic coordinate information according to the coordinate information and the elevation information of the correction picture, then matching the geodetic coordinate information with a standard line, and obtaining a plurality of correction points on the correction picture, and carrying out deformation stretching on the correction picture to obtain an improved picture matched with the original topographic map;
the correction point is obtained according to the following method: dividing the length and width of the picture into a plurality of unit blocks by uniformly dividing the picture, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, taking adjacent central unit blocks until the first correction point is obtained, taking the central unit block as a starting point, extending the plurality of unit blocks in any direction to obtain a first edge unit block, analyzing the marker to obtain a second correction point, analyzing to obtain a second edge unit block symmetrically arranged relative to the first edge unit block and the central unit block, and obtaining a third correction point through the marker on the second edge unit block.
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